Control method and device of quick-freezing storage and computer readable storage medium

Abstract

The invention relates to a control method and device of a quick-freezing storage and a computer readable storage medium. The quick-freezing storage has a transportation scene, and the method comprises the steps that if it is detected that a tray used for bearing a blood bag reaches a target position, tray bearing information is obtained based on the target position; and when it is determined that the tray bearing information meets the conveying condition, a track in a handover area is controlled to move, and the tray is conveyed based on the track. By adopting the method, the transmission efficiency can be improved.

Description

Technical Field

[0001] The present application relates to the field of quick freezing warehouse control, and in particular to a quick freezing warehouse control method, device and computer-readable storage medium. Background Art

[0002] With the continuous development of freezing technology, blood bags can be stored at low temperatures to increase the shelf life of plasma or blood components and ensure their effectiveness. In this process, the blood bags need to be quickly frozen by a quick freezer, and the blood bags need to be stored and retrieved manually.

[0003] In traditional technology, the tray containing blood bags is manually placed in the quick-freezing machine, and after quick freezing, the quick-frozen blood bags are manually taken out of the quick-freezing machine and then manually moved to the low-temperature cold storage for storage. Since multiple links in the quick-freezing and refrigeration process of blood bags involve manual processing, the efficiency of blood storage and processing is low. Summary of the invention

[0004] Based on this, it is necessary to provide a control method, device and computer-readable storage medium for a quick-freezing storehouse that can improve efficiency in response to the above technical problems.

[0005] In a first aspect, the present application provides a control method for a quick-freezing warehouse, wherein the quick-freezing warehouse has a transportation scenario, and the method comprises:

[0006] If it is detected that the tray for carrying the blood bag arrives at the target position, then obtaining the tray carrying information based on the target position;

[0007] When it is determined that the pallet carrying information meets the conveying condition, the track movement in the handover area is controlled, and the pallet is conveyed based on the track.

[0008] In one embodiment, if it is detected that the tray for carrying the blood bags reaches the target position, obtaining the tray carrying information based on the target position includes:

[0009] If it is detected that the tray for carrying the blood bag has arrived at the target position, an image of the tray is collected toward the target position by a camera;

[0010] Image recognition is performed on the image of the pallet to obtain pallet load information.

[0011] In one embodiment, the step of detecting that the tray for carrying the blood bags has arrived at the target position, and then acquiring an image of the tray toward the target position through a camera, comprises:

[0012] If it is detected that the tray carrying the blood bag has arrived at the target position, the tray is taken as the shooting range, and the camera is used to shoot toward the target position to obtain an image of the tray;

[0013] The step of performing image recognition on the image of the pallet to obtain the pallet load information includes:

[0014] Barcode recognition and quantity counting are performed on the blood bags in the image of the tray to obtain the blood bag information in the tray.

[0015] In one embodiment, when it is determined that the pallet load information meets the conveying condition, controlling the track movement in the handover area and conveying the pallet based on the track includes:

[0016] When an instruction characterizing that the pallet carrying information is correct is detected to determine that the pallet carrying information meets the transportation conditions for entering the warehouse for quick freezing, the movement of the entrance track and the receiving track inside the warehouse is controlled to transport the pallet. After the pallet reaches the preset position on the receiving track inside the warehouse, the driving gripper and the receiving track inside the warehouse are controlled to transport the pallet to the quick freezing area; wherein, the target position in the case of entering the warehouse for quick freezing is the entrance of the quick freezing warehouse.

[0017] In one embodiment, the method further comprises:

[0018] When it is determined that the pallet load information meets the transportation condition to the quick-freezing storehouse, controlling the quick-freezing machine to pre-cool;

[0019] After the control driving gripper transports the pallet from the receiving track in the warehouse to the quick freezing area, the method further comprises:

[0020] When the pre-cooling of the quick freezer is not completed, if it is detected that the pallet has arrived at the temporary storage refrigerator, the driving gripper is controlled to transfer the pallet from the receiving track in the warehouse to the temporary storage refrigerator. After the pre-cooling of the quick freezer is completed, the pallet is grabbed from the temporary storage refrigerator and transferred to the quick freezer for quick freezing.

[0021] In one embodiment, the method further comprises:

[0022] In case of detecting an instruction for indicating that the pallet carrying information is correct, identifying the number of the pallet;

[0023] When the pallet carrying information is correct, the pallet number is associated with the pallet carrying information and stored.

[0024] In one embodiment, if it is detected that the tray for carrying the blood bag has arrived at the target position, the method further includes:

[0025] After detecting that the quick freezing of the quick freezer is completed, the driving gripper is controlled to move to the quick freezer;

[0026] Control the driving gripper to grab the pallet and place the pallet on the track at the entrance of the cold storage;

[0027] Control the cold storage entrance track to carry the pallet to move until the pallet carrying information for entering the cold storage is obtained; the target position in the case of entering the cold storage is the cold storage entrance;

[0028] When it is determined that the pallet carrying information meets the conveying condition, controlling the track movement in the handover area and conveying the pallet based on the track includes:

[0029] When it is detected that the pallet carrying information when entering the cold storage and entering the quick freezing storage matches, the cold storage entrance track and the cold storage receiving track are controlled to move; when the pallet reaches the preset position of the cold storage, the cold storage crane gripper is controlled to grab the pallet and transfer the pallet to the cold storage for storage.

[0030] In one embodiment, the method further comprises:

[0031] In response to the blood bag outbound instruction, the time conditions and target workstations of the blood bags to be outbound are obtained;

[0032] Control the driving gripper to grab the pallet carrying the blood bags to be shipped from the storage device that meets the time condition, and transfer the pallet to be shipped to the cold storage outlet track;

[0033] Control the cold storage outlet track to carry the pallet to move, and control the internal track of the cold storage outlet and the external receiving track to move until the pallet reaches the target position on the external receiving track;

[0034] When it is determined that the pallet load information meets the conveying condition, controlling the track movement in the handover area and conveying the pallet based on the track includes:

[0035] When it is detected that the pallet carrying information of the blood bag out of the warehouse and the pallet carrying information of the blood bag in the cold storage match each other, the movement of the external receiving track is controlled, and the pallet is transported to the target station by the external receiving track.

[0036] In one embodiment, the target location includes an empty tray return port, and the method further includes:

[0037] After the tray carrying the blood bags to be shipped arrives at the target station, obtaining and transmitting the quality information of the blood bags to be shipped;

[0038] In response to a return instruction, controlling the track to move so as to transfer the pallet after leaving the warehouse to the empty pallet return port;

[0039] When it is determined that the pallet carrying information satisfies the conveying condition, conveying the pallet based on the track includes:

[0040] When the blood bag information in the pallet indicates that the pallet does not carry any blood bags, the entrance track and the receiving track in the warehouse are controlled to move to transport the pallet, and after the pallet reaches a preset position, the driving gripper is controlled to grab the pallet and store the pallet in a temporary storage position of the pallet;

[0041] When the blood bag information in the tray indicates that the tray carries blood bags, a reminder message is issued to indicate that warehousing needs to be performed according to the warehousing quick-freezing scenario, so as to control the track to transport the tray carrying the blood bags according to the process of the warehousing quick-freezing scenario.

[0042] In one of the embodiments, the position reached by the pallet is detected based on a sensor on the track.

[0043] In a second aspect, the present application also provides a control device for a quick freezing store, comprising:

[0044] A detection module, configured to obtain tray carrying information based on the target position if it is detected that the tray carrying the blood bag has arrived at the target position;

[0045] The conveying module is used to control the track movement in the handover area and convey the pallet based on the track when it is determined that the pallet load information meets the conveying conditions.

[0046] In a third aspect, the present application further provides a computer device, which includes a memory and a processor, wherein the memory stores a computer program, and when the processor executes the computer program, the steps of the control method of the quick-freezing store in any of the above embodiments are implemented.

[0047] In a fourth aspect, the present application further provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the steps of the control method for a quick-freezing store in any of the above-mentioned embodiments.

[0048] In a fifth aspect, the present application further provides a computer program product, which includes a computer program, and when the computer program is executed by a processor, the steps of the control method of the quick freezing store in any of the above embodiments are implemented.

[0049] In the control method, device and computer-readable storage medium of the quick-freezing warehouse, the method includes: if it is detected that the pallet for carrying blood bags has arrived at the target position, the pallet carrying information is obtained based on the target position; thereby, the position detection during the transportation process is used to accurately control the pallet to reach the target position, form a block scheduling of position detection, reduce manual workload, liberate productivity, reduce the probability of error, and lay the foundation for the automatic connection in the quick-freezing warehouse; at the same time, since the blood bags are all transported by pallets, by obtaining the pallet carrying information, the blood bag information in the transportation scene can be determined, the block scheduling of information acquisition is formed, and the blood bag information of the whole process in the quick-freezing warehouse is recorded to reduce the probability of error. At the same time, when the pallet carrying information meets the transportation conditions, the track movement in the handover area is controlled, and the pallet is transported based on the track, so as to efficiently and flexibly transport the pallet according to the spatial attributes of different needs and scenes, and form a block scheduling of pallet transportation. Thus, the quick-freezing warehouse coordinates and controls the equipment or modules therein, so as to realize the block scheduling of position detection, information acquisition and pallet transportation in the in-and-out process, and liberates productivity through the control of equipment and the coordination of module resources. BRIEF DESCRIPTION OF THE DRAWINGS

[0050] In order to more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the drawings required for use in the embodiments of the present application or related technical descriptions will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other related drawings can be obtained based on these drawings without paying creative work.

[0051] Figure 1 This is an application environment diagram of a control method for a quick-freezing store in an embodiment;

[0052] Figure 2 The figure is a flow chart of a method for controlling a quick-freezing store in one embodiment;

[0053] Figure 3 A schematic diagram of a process for obtaining pallet load information in one embodiment;

[0054] Figure 4 A schematic diagram of a process for obtaining pallet load information in another embodiment;

[0055] Figure 5 This is a timing diagram of a quick-freezing scene in a storage according to an embodiment;

[0056] Figure 6 A schematic diagram of a pallet conveying process for a refrigerated storage scenario in one embodiment;

[0057] Figure 7 It is a timing diagram of a refrigerated storage scenario in an embodiment;

[0058] Figure 8 This is a schematic diagram of the transportation process of a blood bag out of storage scenario in an embodiment;

[0059] Fig. 9 It is a timing diagram of a blood bag outbound scene in an embodiment;

[0060] Fig.10 A schematic diagram of a conveying process for an empty tray reflow scenario in an embodiment;

[0061] Fig.11 is a timing diagram of an empty disk reflow scenario in an embodiment;

[0062] Fig.12 is a timing diagram of an empty disk reflow scenario in another embodiment;

[0063] Fig.13 is a structural block diagram of a control device for a quick-freezing store in an embodiment;

[0064] Fig.14 FIG. 4 is a diagram showing the internal structure of a computer device in one embodiment. DETAILED DESCRIPTION

[0065] In order to make the purpose, technical solution and advantages of the present application more clearly understood, the present application is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0066] The control method of the quick freezing store provided in the embodiment of the present application can be applied to Figure 1 In the application environment shown, the terminal 102 communicates with the server 104 through a network. The data storage system can store data that the server 104 needs to process. The data storage system can be integrated on the server 104, or placed on the cloud or other network servers.

[0067] Among them, the terminal 102 can be, but is not limited to, various personal computers, laptops, smart phones, tablet computers, Internet of Things devices and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart car devices, projection devices, etc. Portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. Head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. The server 104 can be an independent physical server, or a server cluster or distributed system composed of multiple physical servers, or a cloud server that provides cloud computing services.

[0068] In an exemplary embodiment, Figure 2 As shown, a control method for a quick-freezing warehouse is provided. The quick-freezing warehouse has a transportation scenario. The method is applied to Figure 1 The server 104 in the example is used for explanation, and the steps include the following steps 202 to 204.

[0069] in:

[0070] Step 202: If it is detected that the tray for carrying the blood bags has arrived at the target position, the tray carrying information is obtained based on the target position.

[0071] The quick-freeze warehouse is integrated with at least one conveying device in the form of a track and a driving gripper to transport pallets into the warehouse, to other areas within the quick-freeze warehouse, or out of the warehouse. The quick-freeze warehouse also has a quick-freezing machine, which is a device used to quick-freeze blood bags during the storage process. The quick-freezing machine can reduce the temperature of the blood bags to below the freezing point to further extend the shelf life of the blood. The blood bags in the quick-freeze warehouse are carried by pallets, and the blood bag transportation process in the quick-freeze warehouse is a pallet transportation process. Since the pallet transportation process of the quick-freeze warehouse itself involves multiple types of spaces, traditional technology can only execute the corresponding processes manually. Specifically, the quick-freeze warehouse involves quick-freezing machines, low-temperature storage cold storage, medium-temperature temporary storage refrigerators, driving grippers, conveying tracks, image recognition and other modules or equipment, which are set according to the transportation scenario.

[0072] Optionally, the target location of the quick-freeze warehouse corresponds to a transportation scenario; the transportation scenario represents the pallet conveying mode of the quick-freeze warehouse, which is a process obtained by subdividing the transportation process in the quick-freeze warehouse. The transportation scenario can be used to divide the overall process of pallet conveying in the quick-freeze warehouse into multiple processes, so as to perform block scheduling according to the properties of the space where the corresponding process is located.

[0073] Optionally, the transportation scenario may be divided according to the overall process of blood bag entry and exit and the areas involved in the entry and exit of blood bags. The transportation scenario may be determined based on instructions or based on pallet loading information.

[0074] For example, the quick freezing scene is determined based on the blood bag entry instruction, involving the area covered by the transportation process between the entry port and the quick freezer, while the cold storage scene after the quick freezing scene is determined based on the pallet information in the quick freezing scene, involving the area covered by the transportation process between the quick freezer and the cold storage. After the cold storage scene, the blood bag outbound scene is determined based on the blood bag outbound instruction, involving the area covered by the transportation process between the cold storage and the exit port; after the blood bag outbound scene, the empty tray return scene is determined based on the return instruction, involving the area covered by the transportation process between the workstation and the entry port.

[0075] Optionally, the target location corresponds to the transportation scenario, and each transportation scenario corresponds to at least one target location, so as to obtain the pallet load information for the target location. Among them, the location indicated by the warehouse quick freezing scenario includes at least one device in the temporary storage refrigerator and the quick freezer; the location indicated by the warehouse refrigeration scenario includes each storage device in the cold storage; the location indicated by the blood bag outbound scenario includes the target station outside the quick freezer; the location indicated by the empty tray return scenario includes the empty tray temporary storage area and the warehouse entrance; the empty tray temporary storage area is used to store pallets that do not carry blood bags, and the pallets at the warehouse entrance can be transported again according to the warehouse quick freezing scenario.

[0076] The blood bag is used to contain blood-related liquids, including but not limited to blood components, red blood cells and plasma. Each blood bag is independently packaged, and each blood bag is located in a tray. The tray is a container for carrying blood bags. Each tray can carry multiple blood bags, and different blood bags are located at different positions on the tray, so that the position of the blood bag is determined by the position of the tray, and then the tray where each blood bag is located is determined by the position of the blood bag relative to the tray.

[0077] The target position is the position of the pallet during the pallet conveying process, and the quick-freezing warehouse is equipped with information acquisition equipment for the target position, so as to obtain the pallet load information at the target position through the information acquisition equipment. Through the target position, the pallet conveying process in the quick-freezing warehouse is refined into multiple parts, thereby forming a block scheduling of the position detection process. Each part of the detection process directly determines the information acquisition process, without the need for direct manual work, which can reduce manual workload, liberate productivity, reduce the probability of error, and lay the foundation for automated connection in the quick-freezing warehouse.

[0078] The tray carrying information is the information of the blood bags carried by the tray. The tray carrying information can be the information of the number of blood bags, or the barcode of the blood bags. The conditions satisfied by the tray carrying information can form more types of instructions when the same event is triggered by a key, so as to form more target positions with fewer keystrokes.

[0079] In an optional embodiment, detecting that the tray for carrying blood bags has arrived at the target position includes: detecting that the tray for carrying blood bags has arrived at the target position by a sensor disposed at a preset position. The sensor disposed at the preset position may be a photoelectric sensor, a position sensor or a gravity sensor. Thus, the cost is low and the accuracy is good.

[0080] In an optional embodiment, detecting that the tray for carrying the blood bags arrives at the target position includes: detecting that the tray for carrying the blood bags arrives at the target position through a sensor on the track.

[0081] In an optional embodiment, obtaining the pallet load information based on the target position includes: photographing the target position with a camera to obtain an image of the pallet; and performing image recognition on the image of the pallet through a neural network model to obtain the pallet load information.

[0082] In an optional embodiment, obtaining the tray load information based on the target position includes: based on scanning the target position by a scanning head, determining the tray load information according to a scanning result of the blood bag barcode.

[0083] In an optional embodiment, obtaining the pallet load information based on the target position includes: sensing the target position based on a radio frequency tag sensor to obtain a sensing result; and determining the pallet load information according to the sensing result.

[0084] In an optional embodiment, if it is detected that the tray for carrying blood bags arrives at the target position, the tray carrying information is obtained based on the target position, including: if, through the classification model, in the wide-angle image shot by the wide-angle lens of the camera toward the target position, it is detected that the tray for carrying blood bags arrives at the target position, then the target position is shot through the telephoto lens of the camera, and image recognition is performed on the tray carrying information based on the shooting result to obtain the tray carrying information.

[0085] Step 204 : When it is determined that the pallet load information satisfies the conveying condition, the track movement in the handover area is controlled, and the pallet is conveyed based on the track.

[0086] The conveying condition is a condition used to determine whether to convey the pallet to the next area. The conveying condition at least includes the result of the correctness check of the pallet load information, and may also include the result of the instruction action. Efficiently and flexibly transport pallets to form a block scheduling of pallet conveyance. Optionally, the conveying condition is set for the transportation scenario, so it can be adaptively adjusted according to the needs of different customers and the corresponding space attributes to meet the personalized needs of each transportation scenario.

[0087] The conveying process is related to the destination of the pallet conveying and is used to indicate the overall conveying process of the pallet. Optionally, in some transportation scenarios, the process of the transportation scenario involves track movement to move the tracks in different areas and then perform the conveying process of the pallet.

[0088] The handover area is a geographical area set for the track, which contains tracks in different geographical areas. Optionally, there is at least one handover area in each transport scene, so that the tracks in different transport scenes are connected in series to form an automated process for blood bag transportation.

[0089] In an optional embodiment, the movement of the track in the handover area is controlled, and the pallet is transported based on the track, including: controlling the movement of the track that does not carry the traveling gripper to dock with the track that carries the traveling gripper, and controlling the traveling gripper to move from the track that carries the traveling gripper to the track that does not carry the traveling gripper.

[0090] In the control method of the above-mentioned quick-freezing warehouse, if it is detected that the pallet for carrying blood bags has arrived at the target position, the pallet carrying information is obtained based on the target position; thus, the position detection during the transportation process is used to accurately control the pallet to reach the target position, forming a block scheduling of position detection, reducing manual workload, liberating productivity, reducing the probability of error, and laying the foundation for the automated connection in the quick-freezing warehouse; at the same time, since the blood bags are all transported by pallets, by obtaining the pallet carrying information, the blood bag information in the transportation scene can be determined, forming a block scheduling of information acquisition, recording the blood bag information of the whole process in the quick-freezing warehouse, and reducing the probability of error. At the same time, when the pallet carrying information meets the transportation conditions, the track movement in the handover area is controlled, and the pallet is transported based on the track, so as to efficiently and flexibly transport the pallet according to the spatial attributes of different needs and different scenes, forming a block scheduling of pallet transportation. Thus, the quick-freezing warehouse coordinates and controls the equipment or modules therein, so as to realize the block scheduling of position detection, information acquisition and pallet transportation in the in-and-out process, and liberates productivity through the control of equipment and the coordination of module resources.

[0091] In one embodiment, Figure 3 As shown, if it is detected that the tray for carrying the blood bag arrives at the target position, the tray carrying information is obtained based on the target position, including:

[0092] Step 302: If it is detected that the tray for carrying the blood bags has arrived at the target position, an image of the tray is collected toward the target position by a camera.

[0093] Optionally, each target position is detected based on at least one sensor; Optionally, the sensor is arranged according to the transportation scenario and can detect the pallet or object at the target position. Optionally, the sensor can be a photoelectric sensor, a magnetic field sensor or other position sensor.

[0094] The camera is directed toward the target position for image acquisition. Since the pallet is at the target position, the camera is controlled to accurately acquire the image of the pallet. Optionally, the camera lens may be a zoom lens so that the shooting range can be adaptively adjusted to adaptively adjust the image clarity of the pallet through different focal lengths; the camera lens may also be a fixed-focus lens.

[0095] In an optional embodiment, detecting that the tray for carrying blood bags has arrived at the target position includes: determining that the tray for carrying blood bags has arrived at the target position based on a situation in which a sensor in the area has not received a photoelectric signal.

[0096] In another optional embodiment, detecting that the tray for carrying blood bags arrives at the target position includes: determining that the driving gripper arrives at the target position based on a sensor at a preset position of the area, and then detecting that the tray for carrying blood bags arrives at the target position.

[0097] Step 304: perform image recognition on the image of the pallet to obtain pallet load information.

[0098] In an optional embodiment, performing image recognition on the image of the pallet to obtain the pallet load information includes: classifying the image of the pallet through a decision tree model for classifying items contained in the transport conditions to obtain the pallet load information. For example, the decision tree model of the blood bag outbound scene is used to determine whether there are blood bags, and the decision tree model of the quick-freezing scene is used to determine whether there are blood bags.

[0099] In an optional embodiment, performing image recognition on the image of the pallet to obtain the pallet load information includes: detecting the image of the pallet using a target detection model for performing image recognition on items included in the conveying conditions to obtain the pallet load information. The target detection model may be a YOLO series detection model or an R-FCN series detection model.

[0100] In an exemplary embodiment, each transport scenario has its own target location; the transport scenario includes at least one of a quick-freezing scenario, a refrigerated scenario, a blood bag outbound scenario, and an empty tray return scenario;

[0101] If it is detected that the tray for carrying the blood bag has arrived at the target position, the image of the tray is collected toward the target position by the camera, including:

[0102] If the sensor on the entrance track of the quick freezing scene detects a tray for carrying blood bags, the camera will be used to shoot the image of the tray towards the entrance of the quick freezing warehouse;

[0103] If the sensor on the entrance track of the cold storage scene detects a pallet, the camera will be used to shoot the image of the pallet toward the entrance of the cold storage. The pallet is grabbed and transported from the cold storage scene by the driving gripper.

[0104] If the sensor on the exit track of the blood bag outbound scene detects a pallet, the camera will be used to shoot the image of the pallet toward the exit of the cold storage; the pallet is grabbed and transported from the incoming cold storage scene by the driving gripper;

[0105] If the sensor on the empty tray return port track of the empty tray return scene detects a tray, the camera is directed toward the empty tray return port to capture an image of the tray.

[0106] Therefore, data recording and tracking, from quick freezing into storage, to refrigeration into storage, to shipment, and finally to the return of empty trays, all have data verification and checking mechanisms, so that timely manual or machine intervention can be carried out when blood products are abnormally lost.

[0107] In this embodiment, the image of the pallet is collected by a camera at the target position on the condition that the pallet reaches the target position, so that the camera can use a fixed-focus lens, thereby ensuring low costs.

[0108] In an optional embodiment, if Figure 4 As shown, when it is detected that the tray for carrying the blood bag arrives at the target position, the image of the tray is collected toward the target position by the camera, including step 402; correspondingly, the image of the tray is subjected to image recognition to obtain the tray carrying information, including step 404, wherein:

[0109] Step 402: If it is detected that the tray carrying the blood bags has arrived at the target position, the tray is used as a shooting range, and the camera is used to shoot toward the target position to obtain an image of the tray.

[0110] The shooting range is the field of view (FOV), which is the angle of the visual range that the camera can cover. Taking the tray as the shooting range can make the shooting range narrower, so that the image of the tray has more concentrated and detailed information, and the information of the blood bag can be efficiently identified in units of trays. Optionally, the shooting range is set by the distance between the camera and the target position, and the focal length. The shooting range can reflect the range of the camera's collection of tray information, thereby reducing the interference caused by redundant information.

[0111] In a feasible embodiment, the image of the pallet is obtained by taking the pallet as the shooting range and shooting toward the target position through the camera, including: taking the pallet at each target position as the shooting range and shooting toward the target position through the camera to obtain the image of the pallet.

[0112] In a feasible embodiment, the pallet is used as the shooting range, and the camera is used to shoot toward the target position to obtain the image of the pallet, including: shooting toward the target position with a preset field of view angle through the camera to obtain the image of the pallet; wherein the preset field of view angle matches the specifications of the pallet.

[0113] Step 404, performing barcode recognition and quantity counting on the blood bags in the image of the tray to obtain information on the blood bags in the tray.

[0114] The blood bag information includes the information carried by the blood bag and the quantity of the blood bag. The blood bag information is counted for each tray. The information carried by the blood bag can be determined through the scanning and recognition process of the radio frequency tag, barcode or QR code, and the quantity of the blood bag can be obtained through image recognition.

[0115] In an optional embodiment, barcode recognition and quantity counting are performed on the blood bags in the image of the tray to obtain the information of the blood bags in the tray, including: in the image of the tray, the barcode or radio frequency tag on the blood bag is recognized to obtain the information carried by the blood bag; in the image of the tray, the number of blood bags carried by each tray is counted to obtain the number of blood bags in the tray. In this way, the number of blood bags can be determined more accurately.

[0116] In an optional embodiment, barcode recognition and quantity counting are performed on the blood bags in the image of the tray to obtain the information of the blood bags in the tray, including: recognizing the barcodes or radio frequency tags on the blood bags in the image of the tray to obtain the information carried by the blood bags; determining the number of objects in the preset blood bag positions on the tray in the image of the tray, and determining the number of blood bags in the tray based on the number. In this way, image recognition is not required, which can improve processing efficiency.

[0117] In this embodiment, the image of the pallet is taken as the shooting range, so that the image of the pallet has a smaller range, and the corresponding redundant information is removed, which is helpful for more accurate barcode recognition and quantity counting.

[0118] In one embodiment, when it is determined that the pallet load information meets the conveying condition, the track movement in the handover area is controlled, and the pallet is conveyed based on the track, including:

[0119] When the instruction used to characterize the correct pallet loading information is detected to determine that the pallet loading information meets the transportation conditions for entering the warehouse for quick freezing, the movement of the entrance track and the receiving track inside the warehouse is controlled to transport the pallet. After the pallet reaches the preset position on the receiving track inside the warehouse, the driving gripper is controlled to transport the pallet from the receiving track inside the warehouse to the quick freezing area; among which, the target position in the case of entering the warehouse for quick freezing is the entrance of the quick freezing warehouse.

[0120] The entrance track is used to transport the pallet to the target location and transport the pallet for carrying blood bags into the warehouse. Optionally, after the blood bags are placed on the pallet and the pallet is placed on the entrance track, a key is detected and the pallet is transported from the entrance to the quick freezing area for quick freezing. At this time, the entrance track starts to transport the pallet to the quick freezing warehouse.

[0121] The receiving track in the warehouse is a track inside the quick-freezing warehouse, and is used to receive the pallets delivered to the warehouse entrance. The quick-freezing area is an area for quick-freezing. The quick-freezing area is equipped with at least a quick-freezing machine, and may also be equipped with temporary storage refrigerators and other equipment.

[0122] Optionally, a sensor disposed on one side of the receiving track in the warehouse may be used to detect the preset position to determine whether the pallet has reached the preset position on the receiving track in the warehouse.

[0123] In an optional embodiment, detecting the instruction for indicating that the tray loading information is correct includes: after prompting manual verification of the blood bag information, detecting the instruction for indicating that the tray loading information is correct.

[0124] In an optional embodiment, detecting the instruction for indicating that the tray carrying information is correct includes: determining the instruction for indicating that the tray carrying information is correct when the barcode information of the blood bags in the tray matches the number of blood bags.

[0125] In an optional embodiment, the driving gripper is controlled to receive the rail-conveyed pallet from the warehouse to the quick-freezing area, including: after the pallet is transported into the warehouse, the pallet is moved to a temporary storage refrigerator for blood bag cooling treatment, until the pallet meets the quick-freezing conditions, and the pallet that meets the quick-freezing conditions is moved to the quick-freezing machine for blood bag quick-freezing treatment.

[0126] The quick freezing conditions are set based on the quick freezing delivery quantity, the pre-cooling completion of the quick freezing machine, or the end of the warehousing process. For example, the pallets that have not reached the quick freezing delivery quantity are moved to the temporary storage refrigerator for blood bag cooling until the pallets in the temporary storage refrigerator reach the quick freezing delivery quantity and the next pallet is delivered to the warehouse, then the pallets in the temporary storage refrigerator and the next pallet are delivered to the quick freezing machine for blood bag quick freezing; the quick freezing delivery quantity can be 7 pallets.

[0127] In this embodiment, it can be applied to the process nodes such as pallet entry and quick freezing. These process nodes cannot review the corresponding pallet load information by comparing data between different scenes, so whether it is correct is determined by instructions. At the same time, the movement of the entry track and the receiving track in the warehouse is controlled so that the pallet is transported from the entry to the quick freezing warehouse. After the pallet reaches the preset position on the receiving track in the warehouse, the driving gripper is controlled to move to the receiving track in the warehouse to transport the pallet, so as to realize the automatic transportation of the pallet between the entry and the quick freezing area.

[0128] In an optional embodiment, the method further includes: when it is determined that the pallet load information meets the conditions for transporting to the quick-freezing warehouse, controlling the quick-freezing machine to pre-cool.

[0129] Correspondingly, after controlling the driving gripper to transport the pallet from the receiving track in the warehouse to the quick-freezing area, the method also includes: when the pre-cooling of the quick-freezing machine is not completed, if it is detected that the pallet has arrived at the temporary storage refrigerator, the driving gripper is controlled to transfer the pallet from the receiving track in the warehouse to the temporary storage refrigerator, until the pre-cooling of the quick-freezing machine is completed, and then the pallet is grabbed from the temporary storage refrigerator and transferred to the quick-freezing machine for quick freezing.

[0130] In a feasible embodiment, controlling the quick freezer to precool includes: controlling the quick freezer to close the cold plate and the door, entering the precooling state to lower the temperature. Thus, the temperature of the quick freezer cold plate drops rapidly, thereby improving the efficiency of quick freezing of the blood bag.

[0131] In an optional embodiment, detecting that the pallet has arrived at the temporary storage refrigerator comprises: a sensor on a receiving track in the warehouse detects the pallet at the position corresponding to the temporary storage refrigerator.

[0132] In an optional embodiment, the sensor on the receiving track in the warehouse detects the pallet at the position corresponding to the temporary storage refrigerator, including: the sensor on the receiving track in the warehouse recognizes that the pallet moves to the door position of the corresponding temporary storage refrigerator.

[0133] In a feasible embodiment, the driving gripper is controlled to transfer the pallet from the receiving track in the warehouse to the temporary storage refrigerator, including: after the temporary storage refrigerator controls itself to open the door, the driving gripper grabs the pallet and transfers it to a vacant position on a layer of the temporary storage refrigerator in the quick freezing area for temporary storage, and then the temporary storage refrigerator closes its own door and performs cooling treatment. In addition, the pallet information can be saved in the database for recording.

[0134] The situation where the quick freezer completes precooling may refer to: the quick freezer sends a notification of completion of precooling to the server via the network.

[0135] In a feasible embodiment, the process of grabbing a pallet from a temporary storage refrigerator and transferring it to a quick freezer for quick freezing includes: a server controlling a driving gripper to grab a pallet from a temporary storage refrigerator and transfer it to the quick freezer, and saving the pallet information to a database; when the quick freezer is full or there are no more blood bags that need quick freezing, controlling the quick freezer to start quick freezing.

[0136] In a feasible embodiment, the pallet is grabbed from the temporary storage refrigerator and transferred to the quick freezer for quick freezing, which also includes: the quick freezer sends a message to the main control program of the server through the network to notify it that the quick freezing is completed; the main control program of the server controls the driving gripper to move to the front of the quick freezer, and controls the quick freezer to unfold the cold plate and open the door, and then grabs the pallet from the quick freezer and transfers it to the cold storage storage track.

[0137] In this embodiment, the process of controlling the precooling of the quick freezer and the process of the track movement are both triggered based on the same conditions, and the two are in parallel. Since the blood bags may be exposed to room temperature and become ineffective during the period when the quick freezer needs to be precooled, the blood bags that have been placed on the plate are temporarily stored at low temperature in the temporary refrigerator to avoid long-term exposure to room temperature. At the same time, after the precooling process, the quick freezer can freeze the blood bags more efficiently.

[0138] In one embodiment, the method further includes: identifying the number of the pallet when an instruction for indicating that the pallet carrying information is correct is detected; and storing the pallet number in association with the pallet carrying information when the pallet carrying information is correct.

[0139] The number of the pallet is the pallet identification of the pallet itself. Through the pallet identification, each pallet forms a locatable transmission unit for blood bags, and the number of blood bags carried by the pallet can be used to determine the number of blood bags that need to be put into storage each time, thereby ensuring storage efficiency. Optionally, the number of the pallet can be identified by a neural network model, and the number of the pallet can also be identified by tag scanning or by radio frequency tag identification.

[0140] Optionally, the situation where the instruction for characterizing that the pallet carrying information is correct is detected refers to: the transportation scenario is a warehousing quick freezing scenario, and the situation where the instruction for characterizing that the pallet carrying information is correct is detected.

[0141] In a feasible embodiment, identifying the number of the tray includes: obtaining an image of the tray; and identifying the number through the image of the tray. The image of the tray can be acquired, and the image acquisition process includes: when it is detected that the tray for carrying the blood bag has arrived at the target position, the image of the tray is acquired toward the target position through a camera.

[0142] In a feasible embodiment, identifying the serial number of the pallet includes: scanning the serial number of the pallet by a scanning head to obtain the serial number of the pallet.

[0143] In a feasible embodiment, the tray number is associated with the tray carrying information and stored, including: storing the tray number as a key field, and storing the blood bag information corresponding to the blood bags in the tray as a value corresponding to the key field.

[0144] In this embodiment, the number of the tray is identified only if the tray carrying information is detected to be correct, which can avoid repeated execution of the tray number identification process and save corresponding processing resources. When the blood bag information is correct, the tray number is associated with the tray carrying information and stored, so that each tray forms a locatable transmission unit for the blood bag, and the position of the blood bag carried by the tray can be determined by the position of the tray, so as to more efficiently transmit the blood bag.

[0145] In a specific embodiment, the scenario of quick freezing in storage is discussed:

[0146] First, the blood bags are manually placed on the pallet and the pallet is put into the conveyor track. The key is pressed to enter the quick-freezing area for quick freezing, and the track starts to convey the pallet to the storage port.

[0147] Next, after the sensor on the track at the entrance of the quick-freezing area senses that the pallet is in place, it controls the camera recognition module to identify the blood bag barcode information, and controls the scanning head to scan the pallet number, prompting manual verification of the blood bag information and confirmation. If the information is incorrect, it can be identified and confirmed again. If the information is correct, the pallet and blood bag information will be associated and saved in the database for record. At the same time, the quick-freezing machine is controlled to start pre-cooling. The quick-freezing machine will automatically close the cold plate and close the door, and automatically enter the pre-cooling state to quickly reduce the temperature.

[0148] Next, the movement of the entrance track of the quick-freezing area and the receiving track inside the warehouse is controlled. At the same time, the driving gripper inside the quick-freezing area moves to the preset position of the receiving track. After the sensor on the receiving track recognizes that the pallet has moved to the door position of the corresponding refrigerator, the refrigerator controls itself to open the door until the driving gripper grabs the pallet and transfers it to an empty position on a layer of the temporary storage refrigerator in the quick-freezing area for temporary storage. Then the refrigerator closes its own door and saves the pallet information to the database for record.

[0149] Specifically, the pallet can be replaced with a pallet for carrying blood bags, and the process is as follows: Figure 5 shown.

[0150] Finally, the quick-freezing machine software notifies the main control software through the network that pre-cooling is completed. The main control software controls the driving gripper to grab the pallet from the temporary storage refrigerator and transfer it to the quick-freezing machine. At the same time, the pallet information is saved to the database for record. When the quick-freezing machine is full or there are no more blood bags that need quick freezing, the main control program controls the quick-freezing machine to start quick freezing.

[0151] In one embodiment, Figure 6 As shown, before detecting that the pallet for carrying blood bags arrives at the target position corresponding to the storage refrigeration scene, the method further includes steps 602 and 604; correspondingly, when it is determined that the pallet carrying information meets the conveying conditions, the track movement in the handover area is controlled, and the pallet is conveyed based on the track, including step 606, wherein:

[0152] Step 602, after detecting that the quick freezing in the quick freezer is completed, control the crane gripper to move to the quick freezer; control the crane gripper to grab the pallet and place the pallet on the track at the entrance of the cold storage.

[0153] The cold storage entrance track is the track used in the cold storage scene. This track can be used to connect the quick freezing area and the cold storage.

[0154] Exemplarily, the quick freezer notifies the server through the network that quick freezing is completed. The server controls the driving gripper to move to the front of the quick freezer, and controls the quick freezer to unfold the cold plate and open the door. The pallet is then grabbed from the quick freezer by the driving gripper and transferred to the cold storage entry track.

[0155] Step 604, control the track at the entrance of the cold storage to carry the pallet to move until the pallet carrying information for entering the cold storage is obtained; in the case of entering the cold storage, the target position is the entrance of the cold storage.

[0156] In an optional embodiment, the cold storage entrance track is controlled to carry the pallet to move until the pallet load information of the cold storage entry scene is obtained, including: controlling the motor of the cold storage entrance track to rotate to drive the pallet to move to the target position corresponding to the cold storage entry scene, until it is detected that the pallet arrives at the target position corresponding to the cold storage entry scene, and then obtaining the pallet load information based on the target position.

[0157] It is understandable that between step 604 and step 606, there is also an embodiment of step 202 when the transportation scenario is a refrigerated warehouse scenario. For example, the detection process of the pallet carrying information of the refrigerated warehouse scenario includes: if the sensor on the entrance track of the refrigerated warehouse detects the pallet, then the image of the pallet is captured by the camera toward the entrance track of the refrigerated warehouse.

[0158] Step 606, when it is detected that the pallet load information during cold storage and quick freezing matches, the cold storage entrance track and the cold storage receiving track are controlled to move. When the pallet reaches the preset position of the cold storage, the cold storage crane gripper is controlled to grab the pallet and transfer the pallet to the cold storage for storage.

[0159] The situation where the pallet carrying information during refrigeration and quick freezing matches is used to indicate that the pallet carrying information meets the transportation conditions for refrigeration. At this time, the pallet carrying the quick-frozen blood bags needs to be transferred to the cold storage area to store the pallet.

[0160] In an optional embodiment, it is detected that the pallet carrying information of the refrigerated warehouse scene and the quick-freezing warehouse scene matches each other, including: it is detected that the pallet carrying information collected at the entrance of the refrigerated warehouse is the same as the pallet carrying information of the quick-freezing warehouse scene in the database.

[0161] In an optional embodiment, detecting that the pallet carrying information of the warehousing refrigeration scene and the warehousing quick freezing scene match each other includes: detecting that the pallet carrying information of the warehousing refrigeration scene is part of the pallet carrying information of the warehousing quick freezing scene in the database.

[0162] In an optional embodiment, controlling the movement of the cold storage entrance track and the cold storage receiving track includes: controlling the movement of the cold storage entrance track and the cold storage receiving track connected in series to transfer the pallet from the quick freezing area to the cold storage.

[0163] In an optional embodiment, the driving gripper of the cold storage is controlled to grab a pallet from a receiving track of the cold storage, and transfer the pallet to the cold storage for storage, including: controlling the driving gripper of the cold storage to grab a pallet from a preset position on the receiving track of the cold storage, and transfer the pallet to a shelf in the cold storage for storage.

[0164] In a specific embodiment, the refrigerated storage scenario is discussed:

[0165] First, the quick freezer notifies the main control program through the network that the quick freezing is completed. The main control program controls the crane gripper to move to the front of the quick freezer, and controls the quick freezer to unfold the cold plate and open the door, and then grabs the pallet from the quick freezer and transfers it to the refrigerated area storage track.

[0166] Next, the movement of the cold storage area entry track is controlled. After the sensor on the cold storage area entry track senses that the tray is in place, the main control program controls the camera to take a photo for image recognition. If the recognized blood bag information is inconsistent with the blood bag information entering the quick-freezing warehouse, an alarm will be issued to prompt manual processing.

[0167] Finally, after the blood bag information is verified before entering the cold storage, the movement of the cold storage area entrance track and the cold storage area receiving track is controlled. When the sensor on the cold storage area receiving track senses that the pallet has reached the preset position, the cold storage area's driving gripper is controlled to grab the pallet from the receiving track, transfer the pallet to an empty position on the cold storage shelf, and record the position of the pallet in the warehouse.

[0168] Specifically, the pallet can be replaced with a pallet for carrying blood bags, and the process is as follows: Figure 7 shown.

[0169] In this embodiment, since the transportation process between the quick-freezing area and the cold storage does not involve the grabbing and putting down of the pallet, the cold storage entrance track is used to carry the pallet to avoid the driving gripper affecting the transmission efficiency due to cross-zone work, and the transmission is transmitted by the cold storage entrance track and the cold storage receiving track in series, which can ensure the corresponding docking efficiency. Moreover, the matching of the pallet carrying information of the cold storage and the quick freezing is used as a condition for transportation, forming a data verification and checking mechanism, and timely manual intervention can be carried out when blood products are abnormally lost.

[0170] In one embodiment, Figure 8 As shown, before it is detected that the pallet for carrying blood bags arrives at the target position corresponding to the blood bag outbound scene, the method further includes steps 802 to 806; correspondingly, when it is determined that the pallet carrying information meets the conveying conditions, the track movement in the handover area is controlled, and the pallet is conveyed based on the track, including step 808, wherein:

[0171] Step 802, in response to the blood bag outbound instruction, obtain the time conditions and target workstations of the blood bags to be outbound.

[0172] The blood bag outbound instruction is an instruction for dispatching blood bags stored in the cold storage out of the quick-freezing storage. The blood bag outbound instruction is at least used to indicate the storage location information of the blood bags to be dispatched, so that the driving gripper in the quick-freezing storage can determine the blood bags to be dispatched. Optionally, the blood bag outbound instruction is also used to instruct the driving manipulator to adaptively adjust the blood bags to be dispatched according to the quality information of the blood bags that have been discharged. The blood bags to be dispatched are blood bags stored in the cold storage, and they are dispatched out of the storage. Optionally, the blood bag outbound instruction is used to characterize the blood bag outbound scenario.

[0173] The time condition is at least one of the storage time period and the collection time period of the blood bags to be shipped. Optionally, the storage process of the blood bags to be shipped is controlled by the storage time period or the collection time period, and the blood bags to be shipped and the storage order of the blood bags in the same time period can be adaptively selected, so that the corresponding blood bags to be shipped are selected according to the time sequence. The target station is a station for processing blood bags.

[0174] Exemplarily, the outbound conditions are selected and confirmed as needed, and keys are pressed on the operating station to determine the target station to which the outbound blood target is transferred, and the main control software receives a signal from the target station to be outbound.

[0175] Step 804, control the driving gripper to grab the pallet carrying the blood bags to be shipped out from the storage device that meets the time condition, and transfer the pallet to be shipped out to the cold storage outlet track.

[0176] The storage device is a physical storage device in a cold storage. The temperature in the storage device is higher than the temperature in the quick freezer, which can save energy consumption. Optionally, the storage device is a shelf in a cold storage.

[0177] Optionally, the driving gripper is controlled to take the pallet from the shelf according to the time period of blood bag collection, and transfer it to the track of the exit inside the cold storage.

[0178] Step 806, controlling the cold storage outlet track to carry the pallet to move, and controlling the internal track of the cold storage outlet and the external receiving track to move, until the pallet reaches the target position on the external receiving track.

[0179] In an optional embodiment, controlling the cold storage exit track to carry the pallet to move includes: moving the pallet by moving a motor of the cold storage exit track.

[0180] In an optional embodiment, controlling the movement of the internal track and the external receiving track of the cold storage exit includes: controlling the movement of at least one of the internal track and the external receiving track of the cold storage exit connected in series, so that the pallet is transferred from the cold storage to the outside of the quick freezer.

[0181] Optionally, when reaching the target position on the external receiving track, the detection process includes: if the sensor on the exit track of the blood bag outbound scene detects the pallet, the image of the pallet is photographed toward the exit track through the camera; the pallet is grabbed and transported from the incoming refrigeration scene by the driving gripper.

[0182] Exemplarily, the movement of the internal track of the delivery port and the external receiving track is controlled. After the sensor on the external receiving track senses that the tray is in place, the camera is controlled to take a photo for image recognition and compare it with the blood information when it enters the cold storage. If the data is abnormal, manual processing is prompted.

[0183] Step 808, when it is detected that the pallet carrying information of the blood bag outgoing and incoming cold storage matches, the external receiving track is controlled to move, and the pallet is transported to the target station by the external receiving track.

[0184] Optionally, the situation in which the pallet carrying information of blood bags shipped out of the warehouse and refrigerated in the warehouse matches each other is used to indicate that the pallet carrying information meets the transportation conditions of the blood bag shipping scenario.

[0185] In an optional embodiment, it is detected that the pallet carrying information of the blood bag outbound scene matches the pallet carrying information of the inbound refrigerated storage scene, including: detecting that the pallet carrying information of the blood bag outbound scene is part of the pallet carrying information of the inbound refrigerated storage scene in the database.

[0186] In a specific embodiment, the blood bag outbound scenario is discussed:

[0187] First, after detecting the selected outbound conditions and confirming the instructions, the target station to which the outbound blood needs to be transferred is determined in response to the key operation on the operating station. The main control software receives the target station in the outbound conditions, controls the driving gripper to take the pallet from the shelf position that meets the outbound conditions, and transfers it to the track at the cold storage outbound port.

[0188] Secondly, the movement of the internal track of the delivery port and the external receiving track is controlled. After the sensor on the external receiving track senses that the tray is in place, the camera is controlled to take a photo for image recognition and compare it with the blood information when it enters the cold storage. If the data is abnormal, manual processing is prompted.

[0189] Furthermore, the blood information out of the warehouse is verified to be correct, and the movement of the track outside the warehouse is controlled to transfer the pallet to the target workstation.

[0190] Specifically, the pallet can be replaced with a pallet for carrying blood bags, and the process is as follows: Fig. 9 shown.

[0191] In this embodiment, since the transportation process between the cold storage and the target station does not involve the grabbing and putting down of the pallet, the track is used to carry the pallet to move, so as to avoid the driving gripper affecting the transmission efficiency due to the outbound work, and the corresponding docking efficiency can be guaranteed by aligning the track movement. Moreover, the matching of the pallet carrying information is used as a condition for transportation, forming a data verification and checking mechanism, and timely manual intervention can be carried out when blood products are abnormally lost.

[0192] In an optional embodiment, the position reached by the pallet is detected based on sensors on the track.

[0193] Therefore, through the sensors on the track, it is possible to conveniently, cost-effectively and accurately detect whether the pallet has reached the target position, so as to capture the image of the pallet at a more accurate time; at the same time, when the pallet is transported to the preset position, the driving gripper can be more accurately controlled to transfer the pallet to different tracks.

[0194] In one embodiment, Fig.10 As shown, before detecting that the tray for carrying blood bags reaches the target position corresponding to the empty tray return scenario, the method further includes steps 1002 and 1004; correspondingly, when it is determined that the tray carrying information meets the conveying conditions, the track movement in the handover area is controlled, and the tray is conveyed based on the track, including steps 1006 and 1008, wherein:

[0195] Step 1002: After the tray carrying the blood bags to be shipped arrives at the target station, the quality information of the blood bags to be shipped is obtained and transmitted.

[0196] Quality information is the test result of the liquid in the blood bag, which can be represented by light, position or sound. Quality information is used to indicate whether the blood bag to be shipped out is to be removed or to be labeled and shipped out; among them, the quality information used to represent qualified is used to indicate that the blood bag to be shipped out in the labeling area is to be removed; the quality information used to represent unqualified is used to indicate that the blood bag to be shipped out in the labeling area is to be labeled and shipped out.

[0197] In an optional embodiment, transmitting quality information includes: determining the position of unqualified blood bags according to the unqualified quality information, and controlling the laser lamp at the position of the unqualified blood bags to release light; or determining the position of qualified blood bags according to the qualified quality information, and controlling the laser lamp at the position of the qualified blood bags to release light.

[0198] In an optional embodiment, disseminating quality information includes: determining the position of unqualified blood bags according to unqualified quality information, and displaying the position of unqualified blood bags on a screen; or determining the position of qualified blood bags according to qualified quality information, and displaying the position of qualified blood bags on a screen.

[0199] The target station can be used to remove blood bags to be shipped, so as to remove unqualified blood bags to be shipped; it can also be used to label and ship blood bags to be shipped, so as to enable qualified blood bags to be shipped to be shipped.

[0200] Step 1004, in response to the return instruction, control the track to move so as to transfer the pallet after leaving the warehouse to the empty pallet return port.

[0201] The return instruction is used to instruct the empty blood trays in the quick freezing warehouse to return to the quick freezing warehouse so as to load blood bags again. In the pallet after leaving the warehouse, the blood bags are removed, labeled or transported to other areas outside the quick freezing warehouse. Optionally, the empty tray return port is the target location of the empty tray return scenario; the return instruction is used to characterize the empty tray return scenario.

[0202] Since the process of obtaining quality information is related to the testing equipment, labeling cannot be carried out if no qualified test results are obtained, and the products need to be re-stocked.

[0203] Among them, the empty tray return port is the target position of the empty tray return scene, which means that if the sensor on the empty tray return port track of the empty tray return scene detects the tray, the image of the tray is captured by the camera toward the empty tray return port track.

[0204] Step 1006, when the blood bag information in the pallet indicates that the pallet does not carry any blood bags, the entrance track and the receiving track in the warehouse are controlled to move to transport the pallet until the pallet reaches a preset position, and then the driving gripper is controlled to grab the pallet and store the pallet in a temporary storage position.

[0205] Optionally, the blood bag information in the tray represents a situation where the tray carries no blood bags, which means that the number of blood bags in the tray is 0.

[0206] Optionally, controlling the movement of the warehouse entrance track and the receiving track in the warehouse to transport the pallet includes: controlling the movement of the warehouse entrance track and the receiving track in the warehouse, and sequentially controlling the warehouse entrance track and the receiving track in the warehouse to transport the pallet, until the sensor on the receiving track in the warehouse senses that the pallet has reached a preset position.

[0207] Optionally, a sensor on a receiving track in the warehouse can be used to detect whether the pallet has reached a preset position.

[0208] Optionally, controlling the crane gripper to grab the pallet and store the pallet in a temporary storage position for the pallet includes: controlling the crane gripper to grab the pallet from a preset position on a receiving track in the warehouse, and storing the pallet in a temporary storage position for the pallet on the shelf.

[0209] Step 1008, when the blood bag information in the pallet indicates that the pallet carries blood bags, a reminder message is issued to indicate that the pallet needs to be put into storage according to the storage and quick freezing scenario, so as to control the track to transport the pallet carrying the blood bags according to the process of the storage and quick freezing scenario.

[0210] In an optional embodiment, according to the process of the warehousing quick-freezing scenario, the track is controlled to transport the pallet carrying the blood bags, including: if it is detected that the pallet carrying the blood bags arrives at the target position corresponding to the warehousing quick-freezing scenario, then the pallet carrying information is obtained based on the target position; when an instruction for characterizing the correct pallet carrying information is detected to determine that the pallet carrying information meets the transportation conditions of the warehousing quick-freezing scenario, the movement of the receiving track in the warehouse is controlled until the pallet arrives at the preset position on the receiving track in the warehouse, and then the driving gripper is controlled to transport the pallet from the receiving track in the warehouse to the quick-freezing area.

[0211] In an optional embodiment, according to the process of the warehouse quick-freezing scenario, the track is controlled to transport the pallet carrying the blood bags, including: if it is detected that the pallet carrying the blood bags arrives at the target position corresponding to the warehouse quick-freezing scenario, then the pallet carrying information is obtained based on the target position; when the instruction used to characterize that the pallet carrying information is correct is detected, the quick-freezing machine is controlled to pre-cool, and the movement of the receiving track in the warehouse is controlled until the sensor of the receiving track in the warehouse senses that the pallet has arrived at the preset position on the receiving track in the warehouse, and then the driving gripper is controlled to transport the pallet from the receiving track in the warehouse to the quick-freezing area.

[0212] When the pre-cooling of the quick freezer is not completed, if the sensor on the receiving track in the warehouse detects the pallet, the driving gripper is controlled to transfer the pallet from the receiving track in the warehouse to the temporary storage refrigerator for cooling. When the pre-cooling of the quick freezer is completed, the pallet is grabbed from the temporary storage refrigerator and transferred to the quick freezer for quick freezing.

[0213] In a specific embodiment, an empty tray reflow scenario is discussed, which includes:

[0214] First, the pallet arrives at the target workstation and connects to the test results of other equipment in the testing department. The positions of blood bags that have passed, failed, or have no test results are indicated in the pallet based on the test results. After the blood bags are taken away manually, the storage button is pressed to start the process of returning the pallet to the quick-freezing area.

[0215] Secondly, the track is controlled to move and the pallet is transferred to the empty pallet storage port. After the sensor on the track at the empty pallet storage port senses that the pallet is in place, the camera is controlled to take a photo for image recognition. If a blood bag is recognized, it will remind manual processing. At this time, the pallet can be put into the cold storage area again and the blood bag data will be recorded.

[0216] Next, if the blood bag is not recognized during the photo taking, the entrance track and the receiving track inside the warehouse are controlled to move. When the sensor on the receiving track inside the warehouse senses that the pallet is in place, the driving gripper is controlled to grab the empty pallet and place the pallet on the shelf at the temporary storage position of the pallet.

[0217] For example, the pallet can be replaced with a cargo pallet for carrying blood bags, and the process of identifying whether the pallet carries a blood bag is as follows: Fig.11 and Fig.12 shown.

[0218] In this embodiment, the trays automatically return and identify whether the empty trays contain blood bags so as to select different tracks for transmission, thereby ensuring a relatively high warehousing efficiency. At the same time, since the empty trays return to the quick-freezing warehouse, blood bags can be placed by taking the empty trays out of the warehouse, thereby ensuring the warehousing efficiency of the next blood bag delivery.

[0219] Based on this, through the control of equipment and the coordination of module resources, the blood bag's automated quick freezing -> storage in cold storage -> outbound flow is realized, thus liberating productivity. Through the coordinated control of multiple devices and modules, the blood product's quick freezing -> low temperature storage -> outbound flow is automated, as well as the full process recording of blood information data.

[0220] Therefore, firstly, after the blood bags are manually placed on the pallet, the storage is triggered with one button; secondly, when the demand for quick freezing is high, the temporary refrigerator is used for caching, which improves the working efficiency of the driving gripper in the quick freezing area and saves manual waiting time; thirdly, the blood products are automatically quick-frozen, and after quick freezing, they are automatically transferred to the cold storage for refrigeration. The test results of blood products are automatically synchronized from a third party without human intervention; thirdly, the blood products are automatically transferred to the target station for further processing when they are shipped out on demand; finally, the empty tray is automatically returned, and it is automatically identified whether there are blood bags in the empty tray. At the same time, data recording and tracking, from quick freezing in storage, to refrigeration in storage, to shipping, and finally to the return of empty trays, have data verification and verification mechanisms, and timely human intervention can be carried out when blood products are abnormally lost.

[0221] It should be understood that, although the various steps in the flowcharts involved in the above-mentioned embodiments are displayed in sequence according to the indication of the arrows, these steps are not necessarily executed in sequence according to the order indicated by the arrows. Unless there is a clear explanation in this article, the execution of these steps does not have a strict order restriction, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-mentioned embodiments can include multiple steps or multiple stages, and these steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily to be carried out in sequence, but can be executed in turn or alternately with other steps or at least a part of the steps or stages in other steps.

[0222] Based on the same inventive concept, the embodiment of the present application also provides a quick-freezing store control device for implementing the quick-freezing store control method involved above. The implementation scheme for solving the problem provided by the device is similar to the implementation scheme recorded in the above method, so the specific limitations in the embodiments of one or more quick-freezing store control devices provided below can refer to the limitations of the quick-freezing store control method above, and will not be repeated here.

[0223] In an exemplary embodiment, Fig.13 As shown, a control device for a quick freezing storehouse is provided, comprising:

[0224] A detection module 1302 is configured to obtain tray carrying information based on the target position if it is detected that the tray carrying the blood bag has arrived at the target position;

[0225] The conveying module 1304 is used to control the track movement in the handover area and convey the pallet based on the track when it is determined that the pallet load information meets the conveying conditions.

[0226] In one embodiment, the detection module 1302 is used to:

[0227] If it is detected that the tray for carrying the blood bag has arrived at the target position, an image of the tray is collected toward the target position by a camera;

[0228] Image recognition is performed on the image of the pallet to obtain pallet load information.

[0229] In one embodiment, the detection module 1302 is used to:

[0230] If it is detected that the tray carrying the blood bag has arrived at the target position, the tray is taken as the shooting range, and the camera is used to shoot toward the target position to obtain an image of the tray;

[0231] Barcode recognition and quantity counting are performed on the blood bags in the image of the tray to obtain the blood bag information in the tray.

[0232] In one embodiment, the delivery module 1304 is used to:

[0233] When an instruction characterizing that the pallet carrying information is correct is detected to determine that the pallet carrying information meets the transportation conditions for entering the warehouse for quick freezing, the movement of the entrance track and the receiving track inside the warehouse is controlled to transport the pallet. After the pallet reaches the preset position on the receiving track inside the warehouse, the driving gripper and the receiving track inside the warehouse are controlled to transport the pallet to the quick freezing area; wherein, the target position in the case of entering the warehouse for quick freezing is the entrance of the quick freezing warehouse.

[0234] In one embodiment, the detection module 1302 is used to:

[0235] When it is determined that the pallet load information meets the transportation condition to the quick-freezing storehouse, controlling the quick-freezing machine to pre-cool;

[0236] After the control driving gripper receives the pallet from the warehouse and transports it to the quick freezing area, the transport module 1304 is used to:

[0237] When the pre-cooling of the quick freezer is not completed, if it is detected that the pallet has arrived at the temporary storage refrigerator, the driving gripper is controlled to transfer the pallet from the receiving track in the warehouse to the temporary storage refrigerator. After the pre-cooling of the quick freezer is completed, the pallet is grabbed from the temporary storage refrigerator and transferred to the quick freezer for quick freezing.

[0238] In one embodiment, the detection module 1302 is used to:

[0239] In case of detecting an instruction for indicating that the pallet carrying information is correct, identifying the number of the pallet;

[0240] When the pallet carrying information is correct, the pallet number is associated with the pallet carrying information and stored.

[0241] In one embodiment, if it is detected that the tray for carrying the blood bag has not reached the target position, the conveying module 1304 is used to:

[0242] After detecting that the quick freezing of the quick freezer is completed, the driving gripper is controlled to move to the quick freezer;

[0243] Control the driving gripper to grab the pallet and place the pallet on the track at the entrance of the cold storage;

[0244] Control the cold storage entrance track to carry the pallet to move until the pallet carrying information for entering the cold storage is obtained; the target position in the case of entering the cold storage is the cold storage entrance;

[0245] When it is detected that the pallet carrying information when entering the cold storage and entering the quick freezing storage matches, the cold storage entrance track and the cold storage receiving track are controlled to move; when the pallet reaches the preset position of the cold storage, the cold storage crane gripper is controlled to grab the pallet and transfer the pallet to the cold storage for storage.

[0246] In one embodiment, the delivery module 1304 is used to:

[0247] In response to the blood bag outbound instruction, the time conditions and target workstations of the blood bags to be outbound are obtained;

[0248] Control the driving gripper to grab the pallet carrying the blood bags to be shipped from the storage device that meets the time condition, and transfer the pallet to be shipped to the cold storage outlet track;

[0249] Control the cold storage outlet track to carry the pallet to move, and control the internal track of the cold storage outlet and the external receiving track to move until the pallet reaches the target position on the external receiving track;

[0250] When it is detected that the pallet carrying information of the blood bag out of the warehouse and the pallet carrying information of the blood bag in the cold storage match each other, the movement of the external receiving track is controlled, and the pallet is transported to the target station by the external receiving track.

[0251] In one embodiment, the target location includes an empty tray return port, and the delivery module 1304 is used to:

[0252] After the tray carrying the blood bags to be shipped arrives at the target station, obtaining and transmitting the quality information of the blood bags to be shipped;

[0253] In response to a return instruction, controlling the track to move so as to transfer the pallet after leaving the warehouse to the empty pallet return port;

[0254] When the blood bag information in the pallet indicates that the pallet does not carry any blood bags, the entrance track and the receiving track in the warehouse are controlled to move to transport the pallet, and after the pallet reaches a preset position, the driving gripper is controlled to grab the pallet and store the pallet in a temporary storage position of the pallet;

[0255] When the blood bag information in the tray indicates that the tray carries blood bags, a reminder message is issued to indicate that warehousing needs to be performed according to the warehousing quick-freezing scenario, so as to control the track to transport the tray carrying the blood bags according to the process of the warehousing quick-freezing scenario.

[0256] In one of the embodiments, the position reached by the pallet is detected based on a sensor on the track.

[0257] Each module in the control device of the quick-freezing storehouse can be implemented in whole or in part by software, hardware and a combination thereof. Each module can be embedded in or independent of a processor in a computer device in the form of hardware, or can be stored in a memory in a computer device in the form of software, so that the processor can call and execute operations corresponding to each module.

[0258] In an exemplary embodiment, a computer device is provided. The computer device may be a server, and its internal structure diagram may be as shown in FIG. Fig.14As shown. The computer device includes a processor, a memory, an input / output interface (Input / Output, referred to as I / O) and a communication interface. The processor, the memory and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. The processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The input / output interface of the computer device is used to exchange information between the processor and an external device. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a control method for a quick-freezing warehouse is implemented.

[0259] Those skilled in the art will understand that Fig.14 The structure shown in the figure is only a block diagram of a part of the structure related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0260] In one embodiment, a computer device is further provided, including a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the steps in the above method embodiments when executing the computer program.

[0261] In one embodiment, a computer-readable storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the steps in the above-mentioned method embodiments are implemented.

[0262] In one embodiment, a computer program product is provided, including a computer program, which implements the steps in the above method embodiments when executed by a processor.

[0263] It should be noted that the user information (including but not limited to user device information, user personal information, etc.) and data (including but not limited to data used for analysis, stored data, displayed data, etc.) involved in this application are all information and data authorized by the user or fully authorized by all parties, and the collection, use and processing of relevant data must comply with relevant regulations.

[0264] Those of ordinary skill in the art can understand that all or part of the processes in the above-mentioned embodiment methods can be completed by instructing the relevant hardware through a computer program, and the computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to the memory, database or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. As an illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM). The database involved in each embodiment provided in this application may include at least one of a relational database and a non-relational database. Non-relational databases may include distributed databases based on blockchains, etc., but are not limited to this. The processor involved in each embodiment provided in this application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic device, a data processing logic device based on quantum computing, an artificial intelligence (AI) processor, etc., but are not limited to this.

[0265] The technical features of the above embodiments may be combined arbitrarily. To make the description concise, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this application.

[0266] The above-described embodiments only express several implementation methods of the present application, and the descriptions thereof are relatively specific and detailed, but they cannot be understood as limiting the scope of the present application. It should be pointed out that, for a person of ordinary skill in the art, several variations and improvements can be made without departing from the concept of the present application, and these all belong to the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the attached claims.

Claims

1. A method for controlling a quick freezing store, characterized in that: The method comprises: If it is detected that the tray for carrying the blood bag arrives at the target position, then obtaining the tray carrying information based on the target position; When it is determined that the pallet carrying information meets the conveying condition, the track movement in the handover area is controlled, and the pallet is conveyed based on the track.

2. The method according to claim 1, characterized in that If it is detected that the tray for carrying the blood bag arrives at the target position, then obtaining the tray carrying information based on the target position includes: If it is detected that the tray for carrying the blood bag has arrived at the target position, an image of the tray is collected toward the target position by a camera; Image recognition is performed on the image of the pallet to obtain pallet load information.

3. The method according to claim 2, characterized in that The step of detecting that the tray for carrying the blood bags has arrived at the target position and then collecting an image of the tray toward the target position through a camera comprises: If it is detected that the tray carrying the blood bag has arrived at the target position, the tray is taken as the shooting range, and the camera is used to shoot toward the target position to obtain an image of the tray; The step of performing image recognition on the image of the pallet to obtain the pallet load information includes: Barcode recognition and quantity counting are performed on the blood bags in the image of the tray to obtain the blood bag information in the tray.

4. The method according to claim 1, characterized in that When it is determined that the pallet carrying information meets the conveying condition, controlling the track movement in the handover area and conveying the pallet based on the track includes: When an instruction characterizing that the pallet carrying information is correct is detected to determine that the pallet carrying information meets the transportation conditions for entering the warehouse for quick freezing, the movement of the entrance track and the receiving track inside the warehouse is controlled to transport the pallet. After the pallet reaches the preset position on the receiving track inside the warehouse, the driving gripper and the receiving track inside the warehouse are controlled to transport the pallet to the quick freezing area; wherein, the target position in the case of entering the warehouse for quick freezing is the entrance of the quick freezing warehouse.

5. The method according to claim 4, characterized in that The method further comprises: When it is determined that the pallet load information meets the transportation condition to the quick-freezing storehouse, controlling the quick-freezing machine to pre-cool; After the control driving gripper transports the pallet from the receiving track in the warehouse to the quick freezing area, the method further comprises: When the pre-cooling of the quick freezer is not completed, if it is detected that the pallet has arrived at the temporary storage refrigerator, the driving gripper is controlled to transfer the pallet from the receiving track in the warehouse to the temporary storage refrigerator. After the pre-cooling of the quick freezer is completed, the pallet is grabbed from the temporary storage refrigerator and transferred to the quick freezer for quick freezing.

6. The method according to claim 1, characterized in that The method further comprises: In case of detecting an instruction for indicating that the pallet carrying information is correct, identifying the number of the pallet; When the pallet carrying information is correct, the pallet number is associated with the pallet carrying information and stored.

7. The method according to claim 1, characterized in that If it is detected that the tray for carrying the blood bag has not reached the target position, the method further includes: After detecting that the quick freezing of the quick freezer is completed, the driving gripper is controlled to move to the quick freezer; Control the driving gripper to grab the pallet and place the pallet on the track at the entrance of the cold storage; Control the cold storage entrance track to carry the pallet to move until the pallet carrying information for entering the cold storage is obtained; the target position in the case of entering the cold storage is the cold storage entrance; When it is determined that the pallet carrying information meets the conveying condition, controlling the track movement in the handover area and conveying the pallet based on the track includes: When it is detected that the pallet carrying information when entering the cold storage and entering the quick freezing storage matches, the cold storage entrance track and the cold storage receiving track are controlled to move; when the pallet reaches the preset position of the cold storage, the cold storage crane gripper is controlled to grab the pallet and transfer the pallet to the cold storage for storage.

8. The method according to claim 1, characterized in that The method further comprises: In response to the blood bag outbound instruction, the time conditions and target workstations of the blood bags to be outbound are obtained; Control the driving gripper to grab the pallet carrying the blood bags to be shipped from the storage device that meets the time condition, and transfer the pallet to be shipped to the track at the cold storage outlet; Control the cold storage outlet track to carry the pallet to move, and control the internal track of the cold storage outlet and the external receiving track to move until the pallet reaches the target position on the external receiving track; When it is determined that the pallet carrying information meets the conveying condition, controlling the track movement in the handover area and conveying the pallet based on the track includes: When it is detected that the pallet carrying information of the blood bag out of the warehouse and the pallet carrying information of the blood bag in the cold storage match each other, the movement of the external receiving track is controlled, and the pallet is transported to the target station by the external receiving track.

9. The method according to claim 1, characterized in that: The target position includes an empty tray return port, and the method further includes: After the tray carrying the blood bags to be shipped arrives at the target station, obtaining and transmitting the quality information of the blood bags to be shipped; In response to a return instruction, controlling the track to move so as to transfer the pallet after leaving the warehouse to the empty pallet return port; When it is determined that the pallet carrying information satisfies the conveying condition, conveying the pallet based on the track includes: When the blood bag information in the pallet indicates that the pallet does not carry any blood bags, the entrance track and the receiving track in the warehouse are controlled to move to transport the pallet, and after the pallet reaches a preset position, the driving gripper is controlled to grab the pallet and store the pallet in a temporary storage position of the pallet; When the blood bag information in the tray indicates that the tray carries blood bags, a reminder message is issued to indicate that warehousing needs to be performed according to the warehousing quick-freezing scenario, so as to control the track to transport the tray carrying the blood bags according to the process of the warehousing quick-freezing scenario.

10. The method according to claim 1, characterized in that The position reached by the pallet is detected based on the sensors on the track.

11. A control device for a quick freezing store, characterized in that: The device comprises: A detection module, configured to obtain tray carrying information based on the target position if it is detected that the tray carrying the blood bag has arrived at the target position; The conveying module is used to control the track movement in the handover area and convey the pallet based on the track when it is determined that the pallet load information meets the conveying conditions.

12. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 10 are implemented.

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